Collision Avoidance System CAS-M light - Bosch … · Bosch Motorsport Collision Avoidance System CAS-M light 3 / 26. Fig. 2: CAS-M light dimensions Wiring

Collision Avoidance System CAS-M light

Manual

V 1.10, 2/14/2017

Table of contents

1 System Overview ................................................................................................................................................. 31.1 Function principle ........................................................................................................................................................................... 31.2 Hardware ............................................................................................................................................................................................ 31.3 Wiring .................................................................................................................................................................................................. 41.4 CAN communication ...................................................................................................................................................................... 5

2 Installation Guide ................................................................................................................................................ 72.1 Mounting the radar sensor .......................................................................................................................................................... 72.2 Configuration of the sensor position ...................................................................................................................................... 82.3 Configuration of the system threshold values ..................................................................................................................... 9

3 Using the CAS-M light Information ................................................................................................................ 103.1 Predefined messages ................................................................................................................................................................... 103.2 Using raw values ............................................................................................................................................................................ 10

4 Packages ............................................................................................................................................................. 114.1 CAS-M light & connector (500 kBaud) ................................................................................................................................. 114.2 CAS-M light & connector (1 MBaud) .................................................................................................................................... 114.3 CAS-M light incl. DDU 9 (500 kBaud) .................................................................................................................................... 114.4 CAS-M light incl. DDU 9 (1 MBaud) ....................................................................................................................................... 11

5 Open-end Loom ................................................................................................................................................. 12

6 Appendix ............................................................................................................................................................ 13

Table of Contents

2 / 26 Collision Avoidance System CAS-M light Bosch Motorsport

System OverviewThe CAS-M light helps the driver to focus on the track and warns him if a car isapproaching from behind. The system provides information about relative speedand distance on the CAN bus. The benefit is even more increased during night-time or in bad weather conditions.

The interface is very intuitive and adaptable to the drivers liking – so there is noneed in special driver trainings.

Function principleCAS-M light provides information for distance and relative speed of the closestvehicle behind via two LEDs (left and right) in the driver display. Only the closestvehicle behind is considered. All other objects are suppressed.

In large (green) and medium (yellow) distance both LEDs (left and right) are usedin parallel to provide the available information. In close (red) distance a left/rightdetermination is done, and only the appropriate left or right LED is used to pro-vide information about the object behind the driver.

All distance and delta speed thresholds based on the physical raw values to con-trol the object detection and LED visualization can be adjusted individually viaCAN (depending on pilot and race category different settings may be required).

CAS-M light contains a pre-defined visualization concept to allow for a quickstarting with the system. The pre-defined thresholds are based on Bosch Motor-sport know how and experience with the system.

HardwareThe CAS-M light system consists of a Bosch automotive mid range radar sensor,shown in the following picture/drawing.

Fig. 1: CAS-M light sensor

1

1.1

1.2

System Overview | 1

Bosch Motorsport Collision Avoidance System CAS-M light 3 / 26

Fig. 2: CAS-M light dimensions

WiringThe sensor needs to be connected to the vehicle CAN bus (connection to displayneeded) and supplied with 12 V from the supply system on board. For the speedcalculation of the approaching cars, the sensor needs to know the vehicle’sspeed.

Pin Designation Description

1 GND Sensor Ground

2 CAN-H CAN High

3 CAN-L CAN Low

4 Not connected Not connected




8 V+ Supply voltage for sensor (12 V)

1.3

1 | System Overview


Car CAS-M

Vehicle speed, configuration

LED status

Fig. 3: Wiring schematic

CAN communicationSince the system provides the information on the CAN bus (car approaching left/right, distances, relative speeds ...), it is mandatory to connect the sensor to it. Inaddition the sensor needs to get the vehicle’s speed via CAN.

CAN Baud rate: 500 kBaud or 1 MBaud

CAN update rate of Sensor: 50 Hz

Vehicle SpeedInformation that needs to be send from the car to the system:

Message CAN ID Byteorder

Valuetype

Startbit

Length[bit]

Factor Offset

Speed 0x616 Intel Un-signed

24 16 0.1 0

Predefined MessagesInformation that is send from the sensor to the car:


Valuetype

Startbit

Length[bit]

Factor Offset

Object_left_dist_range

0x3F3 Intel Un-signed

58 3 1 0

Object_left_ap-proach_spd_range


61 3 1 0

Object_right_dist_range


58 3 1 0

1.4

System Overview | 1



Valuetype

Startbit

Length[bit]

Factor Offset

Object_right_ap-proach_spd_range


61 3 1 0

Raw valuesInformation that is send from the sensor to the car:


Valuetype

Startbit

Length[bit]

Factor Offset

Object_left_dx 0x3F3 Intel Un-signed

0 12 0.0625 0

Object_left_vx 0x3F3 Intel Signed 12 12 0.0625 0

Object_left_dy 0x3F3 Intel Signed 24 14 0.015625 0

Ob-ject_right_dx


0 12 0.0625 0

Object_right_vx 0x3F5 Intel Signed 12 12 0.0625 0

Ob-ject_right_dy

0x3F5 Intel Signed 24 14 0.015625 0

Important noteDo not use the messages 0xB9, 0x757 or 0x7C1 on the sensor CAN. These Mes-sages are not needed but if used the sensor will be affected.

The sensor sends the additional message 0xB9 on the CAN. This message is notneeded for the CAS-M light system but already used by the sensor.

1 | System Overview


Installation Guide

Mounting the radar sensorA mounting frame with 4xM6 threaded bushings are delivered with the sensor.An individual concept for each car mounting situation must be developed by thecar manufacturer. The following mounting restrictions must be fulfilled to securea proper function of the system.

▪ The radar sensor must be longitudinally and laterally leveled, aligned with thevehicle’s longitudinal axis and mounted on the vehicle’s lateral centerline.Sensor mounting height of 20 cm to 90 cm off the ground will ensure maxi-mum range.If a mounting in the vehicle centre line is not possible, the offset must beconfigured via the appropriate CAN message (see chapter Configuration ofthe sensor position [} 8]).

▪ The sensor may be mounted flush mounted with the rear fascia.

▪ It is critical that the radar sensor has an unobstructed (or radar-transparent)view out the rear of the vehicle. Optimum is a mounting without any materialin front of the sensor.If it must be mounted behind, the plane in front of the sensor surface mustbe free of conductive materials (e.g. a thin layer of vinyl, fiberglass or Kevlar).The distance between sensor and surface depends on the used material andshould be approximately 5 mm.

Fig. 4: CAS-M light frame

2

2.1

Installation Guide | 2


Configuration of the sensor position

Definition of sensor position and orientation


Valuetype

Startbit

Length[bit]

Factor Offset

Orientation 0x618 Intel Signed 28 2 1 0

Position_X 0x618 Intel Signed 30 10 0.01 0

Position_Y 0x618 Intel Signed 40 8 0.01 0

Position_Z 0x618 Intel Unsigned 48 8 0.01 0

The Message 0x620 has to be send to the sensor once after every power cycle.Otherwise the default values are used by the sensor.

See appendix table 1 for assignment of signed integer values in hex.

Conversion of negative values into hex with two´s complement:

10 bit: Hex value = Decimal to hex (Physical value / Factor + 1024)

8 bit: Hex value = Decimal to hex (Physical value / Factor + 256)

Example for Position X (10 Bit value) = -1 m

Decimal value = -1 / 0.01 + 1024 = 954

Hex value = Decimal to hex (954) = 39C

Orientation

Description Value Default

Connector facing up -1 1

Connector facing down +1

Position_X

Description Comment Default

Sensor position in X direction Distance from rear axle [m]X-axis is positive in drivingdirection

-1

Position_Y


Sensor position in Y direction Distance from vehicle sym-metry axle [m]Left is positive

0

Position_Z


Sensor position in Z direction Distance to ground [m] 0.5

2.2

2 | Installation Guide


Configuration of the system threshold values

Fig. 5: Distance schematic


Valuetype

Startbit

Length[bit]

Factor Offset

Distance_Near 0x620 Intel Unsigned 0 8 1 0

Distance_Medium 0x620 Intel Unsigned 8 8 1 0

Distance_Far 0x620 Intel Unsigned 16 8 1 0

Speed_medium 0x620 Intel Unsigned 24 8 1 0

Speed-high 0x620 Intel Unsigned 32 8 1 0

Distance thresholds


Distance_Near Threshold between near range and mediumrange [m]

12

Distance_Medi-um

Threshold between medium range and farrange

30

Distance_Far Threshold between far range and out of range(no warning)

75

Speed thresholds


Speed_medium Speed of approaching vehicle [km/h] for lowfrequency flashing

7.2

Speed_high Speed of approaching vehicle [km/h] for highfrequency flashing

14.4

2.3

Installation Guide | 2


Using the CAS-M light Information

Predefined messagesThe system provides predefined CAN-messages with evaluated values for dis-tance and relative speed.

Configuration distanceObject_left/right_dist_range defines the distance of the car behind into a color foran LED.

Value Color Description

0x0 off inactive

0x1 green large distance

0x2 yellow medium distance

0x4 red close distance

Configuration relative speedObject_left/right_approach_spd_range defines the relative speed of the car behindinto a blinking frequency for an LED.

Value LED-Status Description

0x0 off inactive

0x1 LED on low relative speed

0x2 LED flash low frequency medium relative speed

0x4 LED flash high frequency high relative speed

Using raw valuesAs an alternative to the predefined messages it is possible to use the raw valuesprovided by the system. Every value is provided for each side (left and right).

Object_left/right_dxDistance to the car behind [m]

Object_left/right_vxRelative speed of the car behind [m/s]

Object_left/right_dyPosition of the car behind (relating to the mid axis of the car) [m]

3

3.1

3.1.1

3.1.2

3.2

3 | Using the CAS-M light Information


Packages

CAS-M light & connector (500 kBaud)The CAS-M light system can be ordered without loom and display. The systemincludes:

▪ CAS-M light sensor with 500 kBaud CAN speed & mating connector

Part number: F 02U V02 021-01

CAS-M light & connector (1 MBaud)The CAS-M light system can be ordered without loom and display. The systemincludes:

▪ CAS-M light sensor with 1 MBaud CAN speed & mating connector


CAS-M light incl. DDU 9 (500 kBaud)The CAS-M light system can be ordered directly with a DDU 9. The system in-cludes:

▪ CAS-M light sensor with 500 kBaud CAN speed & mating connector

▪ DDU 9


CAS-M light incl. DDU 9 (1 MBaud)The CAS-M light system can be ordered directly with a DDU 9. The system in-cludes:

▪ CAS-M light sensor with 1 MBaud CAN speed & mating connector

▪ DDU 9


4

4.1

4.2

4.3

4.4

Packages | 4


Open-end LoomThe open end loom can be used to connect the sensor to an existing display unit.The loom is compatible with the CAS-M light packages F 02U V02 021-01 and F02U V02 220-01.

The loom includes:

▪ Sensor matting connector F 037 B00 168-01

▪ Removable 120 Ω terminating resistor

▪ Open end loom for display unit


5

5 | Open-end Loom


AppendixOrientation

Decimal Hex Physical

-1 3 -1

1 1 1

Position X

Decimal Hex Physical [m]

-150 36A -1,5

-149 36B -1,49

-148 36C -1,48

-147 36D -1,47

-146 36E -1,46

-145 36F -1,45

-144 370 -1,44

-143 371 -1,43

-142 372 -1,42

-141 373 -1,41

-140 374 -1,4

-139 375 -1,39

-138 376 -1,38

-137 377 -1,37

-136 378 -1,36

-135 379 -1,35

-134 37A -1,34

-133 37B -1,33

-132 37C -1,32

-131 37D -1,31

-130 37E -1,3

-129 37F -1,29

-128 380 -1,28

-127 381 -1,27

-126 382 -1,26

-125 383 -1,25

-124 384 -1,24

-123 385 -1,23

-122 386 -1,22

-121 387 -1,21

-120 388 -1,2

6

Appendix | 6


-119 389 -1,19

-118 38A -1,18

-117 38B -1,17

-116 38C -1,16

-115 38D -1,15

-114 38E -1,14

-113 38F -1,13

-112 390 -1,12

-111 391 -1,11

-110 392 -1,1

-109 393 -1,09

-108 394 -1,08

-107 395 -1,07

-106 396 -1,06

-105 397 -1,05

-104 398 -1,04

-103 399 -1,03

-102 39A -1,02

-101 39B -1,01

-100 39C -1

-99 39D -0,99

-98 39E -0,98

-97 39F -0,97

-96 3A0 -0,96

-95 3A1 -0,95

-94 3A2 -0,94

-93 3A3 -0,93

-92 3A4 -0,92

-91 3A5 -0,91

-90 3A6 -0,9

-89 3A7 -0,89

-88 3A8 -0,88

-87 3A9 -0,87

-86 3AA -0,86

-85 3AB -0,85

-84 3AC -0,84

-83 3AD -0,83

-82 3AE -0,82

-81 3AF -0,81

-80 3B0 -0,8

6 | Appendix


-79 3B1 -0,79

-78 3B2 -0,78

-77 3B3 -0,77

-76 3B4 -0,76

-75 3B5 -0,75

-74 3B6 -0,74

-73 3B7 -0,73

-72 3B8 -0,72

-71 3B9 -0,71

-70 3BA -0,7

-69 3BB -0,69

-68 3BC -0,68

-67 3BD -0,67

-66 3BE -0,66

-65 3BF -0,65

-64 3C0 -0,64

-63 3C1 -0,63

-62 3C2 -0,62

-61 3C3 -0,61

-60 3C4 -0,6

-59 3C5 -0,59

-58 3C6 -0,58

-57 3C7 -0,57

-56 3C8 -0,56

-55 3C9 -0,55

-54 3CA -0,54

-53 3CB -0,53

-52 3CC -0,52

-51 3CD -0,51

-50 3CE -0,5

-49 3CF -0,49

-48 3D0 -0,48

-47 3D1 -0,47

-46 3D2 -0,46

-45 3D3 -0,45

-44 3D4 -0,44

-43 3D5 -0,43

-42 3D6 -0,42

-41 3D7 -0,41

-40 3D8 -0,4

Appendix | 6


-39 3D9 -0,39

-38 3DA -0,38

-37 3DB -0,37

-36 3DC -0,36

-35 3DD -0,35

-34 3DE -0,34

-33 3DF -0,33

-32 3E0 -0,32

-31 3E1 -0,31

-30 3E2 -0,3

-29 3E3 -0,29

-28 3E4 -0,28

-27 3E5 -0,27

-26 3E6 -0,26

-25 3E7 -0,25

-24 3E8 -0,24

-23 3E9 -0,23

-22 3EA -0,22

-21 3EB -0,21

-20 3EC -0,2

-19 3ED -0,19

-18 3EE -0,18

-17 3EF -0,17

-16 3F0 -0,16

-15 3F1 -0,15

-14 3F2 -0,14

-13 3F3 -0,13

-12 3F4 -0,12

-11 3F5 -0,11

-10 3F6 -0,1

-9 3F7 -0,09

-8 3F8 -0,08

-7 3F9 -0,07

-6 3FA -0,06

-5 3FB -0,05

-4 3FC -0,04

-3 3FD -0,03

-2 3FE -0,02

-1 3FF -0,01

0 0 0

6 | Appendix


1 1 0,01

2 2 0,02

3 3 0,03

4 4 0,04

5 5 0,05

6 6 0,06

7 7 0,07

8 8 0,08

9 9 0,09

10 A 0,1

11 B 0,11

12 C 0,12

13 D 0,13

Position Y

Decimal Hex Physical [m]

-128 80 -1,28

-127 81 -1,27

-126 82 -1,26

-125 83 -1,25

-124 84 -1,24

-123 85 -1,23

-122 86 -1,22

-121 87 -1,21

-120 88 -1,2

-119 89 -1,19

-118 8A -1,18

-117 8B -1,17

-116 8C -1,16

-115 8D -1,15

-114 8E -1,14

-113 8F -1,13

-112 90 -1,12

-111 91 -1,11

-110 92 -1,1

-109 93 -1,09

-108 94 -1,08

-107 95 -1,07

-106 96 -1,06

Appendix | 6


-105 97 -1,05

-104 98 -1,04

-103 99 -1,03

-102 9A -1,02

-101 9B -1,01

-100 9C -1

-99 9D -0,99

-98 9E -0,98

-97 9F -0,97

-96 A0 -0,96

-95 A1 -0,95

-94 A2 -0,94

-93 A3 -0,93

-92 A4 -0,92

-91 A5 -0,91

-90 A6 -0,9

-89 A7 -0,89

-88 A8 -0,88

-87 A9 -0,87

-86 AA -0,86

-85 AB -0,85

-84 AC -0,84

-83 AD -0,83

-82 AE -0,82

-81 AF -0,81

-80 B0 -0,8

-79 B1 -0,79

-78 B2 -0,78

-77 B3 -0,77

-76 B4 -0,76

-75 B5 -0,75

-74 B6 -0,74

-73 B7 -0,73

-72 B8 -0,72

-71 B9 -0,71

-70 BA -0,7

-69 BB -0,69

-68 BC -0,68

-67 BD -0,67

-66 BE -0,66

6 | Appendix


-65 BF -0,65

-64 C0 -0,64

-63 C1 -0,63

-62 C2 -0,62

-61 C3 -0,61

-60 C4 -0,6

-59 C5 -0,59

-58 C6 -0,58

-57 C7 -0,57

-56 C8 -0,56

-55 C9 -0,55

-54 CA -0,54

-53 CB -0,53

-52 CC -0,52

-51 CD -0,51

-50 CE -0,5

-49 CF -0,49

-48 D0 -0,48

-47 D1 -0,47

-46 D2 -0,46

-45 D3 -0,45

-44 D4 -0,44

-43 D5 -0,43

-42 D6 -0,42

-41 D7 -0,41

-40 D8 -0,4

-39 D9 -0,39

-38 DA -0,38

-37 DB -0,37

-36 DC -0,36

-35 DD -0,35

-34 DE -0,34

-33 DF -0,33

-32 E0 -0,32

-31 E1 -0,31

-30 E2 -0,3

-29 E3 -0,29

-28 E4 -0,28

-27 E5 -0,27

-26 E6 -0,26

Appendix | 6


-25 E7 -0,25

-24 E8 -0,24

-23 E9 -0,23

-22 EA -0,22

-21 EB -0,21

-20 EC -0,2

-19 ED -0,19

-18 EE -0,18

-17 EF -0,17

-16 F0 -0,16

-15 F1 -0,15

-14 F2 -0,14

-13 F3 -0,13

-12 F4 -0,12

-11 F5 -0,11

-10 F6 -0,1

-9 F7 -0,09

-8 F8 -0,08

-7 F9 -0,07

-6 FA -0,06

-5 FB -0,05

-4 FC -0,04

-3 FD -0,03

-2 FE -0,02

-1 FF -0,01

0 0 0

1 1 0,01

2 2 0,02

3 3 0,03

4 4 0,04

5 5 0,05

6 6 0,06

7 7 0,07

8 8 0,08

9 9 0,09

10 A 0,1

11 B 0,11

12 C 0,12

13 D 0,13

14 E 0,14

6 | Appendix


15 F 0,15

16 10 0,16

17 11 0,17

18 12 0,18

19 13 0,19

20 14 0,2

21 15 0,21

22 16 0,22

23 17 0,23

24 18 0,24

25 19 0,25

26 1A 0,26

27 1B 0,27

28 1C 0,28

29 1D 0,29

30 1E 0,3

31 1F 0,31

32 20 0,32

33 21 0,33

34 22 0,34

35 23 0,35

36 24 0,36

37 25 0,37

38 26 0,38

39 27 0,39

40 28 0,4

41 29 0,41

42 2A 0,42

43 2B 0,43

44 2C 0,44

45 2D 0,45

46 2E 0,46

47 2F 0,47

48 30 0,48

49 31 0,49

50 32 0,5

51 33 0,51

52 34 0,52

53 35 0,53

54 36 0,54

Appendix | 6


55 37 0,55

56 38 0,56

57 39 0,57

58 3A 0,58

59 3B 0,59

60 3C 0,6

61 3D 0,61

62 3E 0,62

63 3F 0,63

64 40 0,64

65 41 0,65

66 42 0,66

67 43 0,67

68 44 0,68

69 45 0,69

70 46 0,7

71 47 0,71

72 48 0,72

73 49 0,73

74 4A 0,74

75 4B 0,75

76 4C 0,76

77 4D 0,77

78 4E 0,78

79 4F 0,79

80 50 0,8

81 51 0,81

82 52 0,82

83 53 0,83

84 54 0,84

85 55 0,85

86 56 0,86

87 57 0,87

88 58 0,88

89 59 0,89

90 5A 0,9

91 5B 0,91

92 5C 0,92

93 5D 0,93

94 5E 0,94

6 | Appendix


95 5F 0,95

96 60 0,96

97 61 0,97

98 62 0,98

99 63 0,99

100 64 1

101 65 1,01

102 66 1,02

103 67 1,03

104 68 1,04

105 69 1,05

106 6A 1,06

107 6B 1,07

108 6C 1,08

109 6D 1,09

110 6E 1,1

111 6F 1,11

112 70 1,12

113 71 1,13

114 72 1,14

115 73 1,15

116 74 1,16

117 75 1,17

118 76 1,18

119 77 1,19

120 78 1,2

121 79 1,21

122 7A 1,22

123 7B 1,23

124 7C 1,24

125 7D 1,25

126 7E 1,26

127 7F 1,27

Appendix | 6


Bosch Engineering North AmericaMotorsports38000 Hills Tech DriveFarmington Hills, MI 48331-3417United States of Americawww.bosch-motorsport.com

Documents

Collision Avoidance System CAS-M light - Bosch … · Bosch Motorsport Collision Avoidance System CAS-M light 3 / 26. Fig. 2: CAS-M light dimensions Wiring